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Useful rviz Markers for the Manipulation Pipeline
Here is a list of useful rviz markers that can be used to monitor the manipulation pipeline:
- main topics:
/object_manipulator/grasp_execution_markers: shows the grasps being tested for execution by the object_manipulator
/collision_rebroadcast_/environment_server_right_arm: shows the static collision map acquired by the tilting laser
/collision_model_markers/environment_server_right_arm: shows the collision models of the table and objects added to the collision environment by the tabletop_collision_map_processing node
/point_cluster_grasp_planner_markers: shows the behavior of the grasp planner for unrecognized point clouds
- advanced topics:
/kinematics_collisions: shows the collisions reported by IK queries; very useful for understanding why certain grasps or place locations have been rejected by the manipulation pipeline
/environment_server_contact_markers: shows the collisions that move_arm found when trying to achieve its goal
/tabletop_detector_markers: shows the markers from the tabletop_object_detector
/interpolation_markers: shows the behavior of the interpolated IK motion planner used for approaching and lifting objects
- main topics:
/object_manipulator/grasp_execution_markers: shows the grasps being tested for execution by the object_manipulator
/collision_rebroadcast_/environment_server_right_arm: shows the static collision map acquired by the tilting laser
/collision_model_markers/environment_server_right_arm: shows the collision models of the table and objects added to the collision environment by the tabletop_collision_map_processing node
/point_cluster_grasp_planner_markers: shows the behavior of the grasp planner for unrecognized point clouds
- advanced topics:
/kinematics_collisions: shows the collisions reported by IK queries; very useful for understanding why certain grasps or place locations have been rejected by the manipulation pipeline
/environment_server_contact_markers: shows the collisions that move_arm found when trying to achieve its goal
/tabletop_detector_markers: shows the markers from the tabletop_object_detector
/interpolation_markers: shows the behavior of the interpolated IK motion planner used for approaching and lifting objects
- main topics:
/object_manipulator/grasp_execution_markers: shows the grasps being tested for execution by the object_manipulator
planning_scene_markers: shows the last planning scene used for motion planning/collision avoidance
occupied_cells: shows the current occupancy grid for the Octomap
/point_cluster_grasp_planner_markers: shows the behavior of the grasp planner for unrecognized point clouds (enable in Electric by changing 'self.draw_gripper = 0' to 'self.draw_gripper = 1' in point_cluster_grasp_planner.py in pr2_gripper_grasp_planner_cluster/src/pr2_gripper_grasp_planner_cluster)
- advanced topics:
/kinematics_collisions: shows the collisions reported by IK queries; very useful for understanding why certain grasps or place locations have been rejected by the manipulation pipeline
/tabletop_segmentation_markers and /tabletop_object_recognition_markers: shows the markers from the tabletop_object_detector
/attached_objects: shows objects that have been attached to the grippers for collision avoidance purposes (Electric only)